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Allow joint to recover after reaching position limits in servo mode #1774

Merged
merged 1 commit into from
Dec 13, 2023
Merged

Allow joint to recover after reaching position limits in servo mode #1774

merged 1 commit into from
Dec 13, 2023

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azeey
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@azeey azeey commented Dec 13, 2023

Fixes #1683

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@azeey
Allow joint to recover after reaching position limits in servo mode
fe0fdca 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey azeey changed the base branch from main to release-6.13 December 13, 2023 22:36
@jslee02 jslee02 merged commit f82833d into dartsim:release-6.13 Dec 13, 2023
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@azeey azeey deleted the joint_recover_after_limit branch December 13, 2023 22:40
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jslee02 commented Dec 13, 2023 •
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For some reason, the CI is not being triggered for PRs from the forked repositories. Let's check the CI on the release-6.13 branch after merging: https://github.com/dartsim/dart/actions

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azeey commented Dec 14, 2023

Is it because I had the target branch be main by mistake and then changed it to release-6.13?

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jslee02 commented Dec 14, 2023

Ah, the CI wasn't configured to trigger CI on pull requests. It should be fixed now by c420a02, c63be96, 82bbe52, 3e8133c

jslee02 added a commit that referenced this pull request Dec 19, 2023
@jslee02
Apply #1774 to main (7.0)
cf15489
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azeey commented Jan 4, 2024 •
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@jslee02 would it be possible to get a new release of 6.13, maybe after #1779?

cc @j-rivero

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jslee02 commented Jan 5, 2024 •
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Sounds good to me. Creating a tag with 6.13.1 would be enough?

@jslee02 jslee02 added this to the DART 6.13.1 milestone Jan 5, 2024
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jslee02 commented Jan 5, 2024

Done! https://github.com/dartsim/dart/releases/tag/v6.13.1

@BrewTestBot BrewTestBot mentioned this pull request Jan 5, 2024
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azeey commented Jan 5, 2024

Thank you!!

azeey added a commit to azeey/gz-sim that referenced this pull request Jan 19, 2024
@azeey
Fix ModelPhotoShootTest test failures
65c7be6 
The failures are caused by a change in the DART physics engine
(dartsim/dart#1774) which causes joints to
recover after reaching or exceeding their position limits. It seems like
the model used in this plugin starts off with joint limits violated and
recovers after a few iterations. This causes a small movement of the
robot. Since the test works by comparing images taken of the robot at
the start of simulation and after a few iterations, the small movement
causes a discrepancy in the images. The solution here is to run the
whole test while simulation is paused.

This also cleans up some TestFixture warnings.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey azeey mentioned this pull request Jan 19, 2024
Merged
8 tasks
azeey added a commit to gazebosim/gz-sim that referenced this pull request Jan 19, 2024
@azeey
Fix ModelPhotoShootTest test failures (#2294)
cc4914a 
The failures are caused by a change in the DART physics engine
(dartsim/dart#1774) which causes joints to
recover after reaching or exceeding their position limits. It seems like
the model used in this plugin starts off with joint limits violated and
recovers after a few iterations. This causes a small movement of the
robot. Since the test works by comparing images taken of the robot at
the start of simulation and after a few iterations, the small movement
causes a discrepancy in the images. The solution here is to run the
whole test while simulation is paused.

This also cleans up some TestFixture warnings.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey azeey mentioned this pull request Feb 21, 2024
Open
azeey added a commit to azeey/gz-sim that referenced this pull request Mar 19, 2024
@azeey
Fix ModelPhotoShootTest test failures (gazebosim#2294)
a123666 
The failures are caused by a change in the DART physics engine
(dartsim/dart#1774) which causes joints to
recover after reaching or exceeding their position limits. It seems like
the model used in this plugin starts off with joint limits violated and
recovers after a few iterations. This causes a small movement of the
robot. Since the test works by comparing images taken of the robot at
the start of simulation and after a few iterations, the small movement
causes a discrepancy in the images. The solution here is to run the
whole test while simulation is paused.

This also cleans up some TestFixture warnings.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
azeey added a commit to gazebosim/gz-sim that referenced this pull request Apr 23, 2024
@azeey
Fix ModelPhotoShootTest test failures (#2294)
6cbf38f 
The failures are caused by a change in the DART physics engine
(dartsim/dart#1774) which causes joints to
recover after reaching or exceeding their position limits. It seems like
the model used in this plugin starts off with joint limits violated and
recovers after a few iterations. This causes a small movement of the
robot. Since the test works by comparing images taken of the robot at
the start of simulation and after a few iterations, the small movement
causes a discrepancy in the images. The solution here is to run the
whole test while simulation is paused.

This also cleans up some TestFixture warnings.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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Joint can't recover from position limits in servo mode
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@azeey @jslee02